eive/eive-obsw
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who am i reg is now checked

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This commit is contained in:
Robin Müller 2021-02-24 11:24:31 +01:00
parent 1416a56ae7
commit e7d4d7b4ee
3 changed files with 477 additions and 461 deletions
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30
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -24,18 +24,22 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
void MGMHandlerLIS3MDL::doStartUp() {
switch (internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NONE): {
internalState = InternalState::STATE_FIRST_CONTACT;
break;
case(InternalState::STATE_FIRST_CONTACT):
}
case(InternalState::STATE_FIRST_CONTACT): {
/* Will be set by checking device ID (WHO AM I register) */
if(commandExecuted) {
commandExecuted = false;
}
internalState = InternalState::STATE_SETUP;
break;
case(InternalState::STATE_SETUP):
}
case(InternalState::STATE_SETUP): {
internalState = InternalState::STATE_CHECK_REGISTERS;
break;
}
case(InternalState::STATE_CHECK_REGISTERS): {
/* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) {
@ -213,12 +217,24 @@ ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len;
*foundId = getPendingCommand();
if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if(start[1] != MGMLIS3MDL::DEVICE_ID) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
#endif
return DeviceHandlerIF::INVALID_DATA;
}
if(mode == _MODE_START_UP) {
commandExecuted = true;
}
}
}
else {
return DeviceHandlerIF::INVALID_DATA;
}
// Data with SPI Interface has always this answer
/* Data with SPI Interface always has this answer */
if (start[0] == 0b11111111) {
return RETURN_OK;
}

36
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
View File

@ -24,11 +24,11 @@ static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
//Number of all control registers
/* Number of all control registers */
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
//Number of registers in the MGM
/* Number of registers in the MGM */
static const uint8_t NR_OF_REGISTERS = 19;
//Total number of adresses for all registers
/* Total number of adresses for all registers */
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
static const uint8_t TEMPERATURE_REPLY_LEN = 3;
@ -37,47 +37,47 @@ static const uint8_t SETUP_REPLY_LEN = 6;
/*------------------------------------------------------------------------*/
/* Register adresses */
/*------------------------------------------------------------------------*/
// Register adress returns identifier of device with default 0b00111101
/* Register adress returns identifier of device with default 0b00111101 */
static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
//Register adress to access register 1
/* Register adress to access register 1 */
static const uint8_t CTRL_REG1 = 0b00100000;
//Register adress to access register 2
/* Register adress to access register 2 */
static const uint8_t CTRL_REG2 = 0b00100001;
//Register adress to access register 3
/* Register adress to access register 3 */
static const uint8_t CTRL_REG3 = 0b00100010;
//Register adress to access register 4
/* Register adress to access register 4 */
static const uint8_t CTRL_REG4 = 0b00100011;
//Register adress to access register 5
/* Register adress to access register 5 */
static const uint8_t CTRL_REG5 = 0b00100100;
//Register adress to access status register
/* Register adress to access status register */
static const uint8_t STATUS_REG_IDX = 8;
static const uint8_t STATUS_REG = 0b00100111;
//Register adress to access low byte of x-axis
/* Register adress to access low byte of x-axis */
static const uint8_t X_LOWBYTE_IDX = 9;
static const uint8_t X_LOWBYTE = 0b00101000;
//Register adress to access high byte of x-axis
/* Register adress to access high byte of x-axis */
static const uint8_t X_HIGHBYTE_IDX = 10;
static const uint8_t X_HIGHBYTE = 0b00101001;
//Register adress to access low byte of y-axis
/* Register adress to access low byte of y-axis */
static const uint8_t Y_LOWBYTE_IDX = 11;
static const uint8_t Y_LOWBYTE = 0b00101010;
//Register adress to access high byte of y-axis
/* Register adress to access high byte of y-axis */
static const uint8_t Y_HIGHBYTE_IDX = 12;
static const uint8_t Y_HIGHBYTE = 0b00101011;
//Register adress to access low byte of z-axis
/* Register adress to access low byte of z-axis */
static const uint8_t Z_LOWBYTE_IDX = 13;
static const uint8_t Z_LOWBYTE = 0b00101100;
//Register adress to access high byte of z-axis
/* Register adress to access high byte of z-axis */
static const uint8_t Z_HIGHBYTE_IDX = 14;
static const uint8_t Z_HIGHBYTE = 0b00101101;
//Register adress to access low byte of temperature sensor
/* Register adress to access low byte of temperature sensor */
static const uint8_t TEMP_LOWBYTE = 0b00101110;
//Register adress to access high byte of temperature sensor
/* Register adress to access high byte of temperature sensor */
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
/*------------------------------------------------------------------------*/